Robust Multi-Agent Pursuit with Preemptive Communication via Reachability-Based Control Barrier Functions
In this work, we propose a unified control/communication strategy that provides safe control to guarantee inter-agent safety under intermittent communication and demonstrate its effectiveness in a pursuit-evasion scenario.
ProofPaper ↗
Key points
- Safe multi-agent coordination typically assumes what real-world, deployed, resource-constrained robots cannot provide: continuous, perfect state sharing.
- Robust control strategies must be complemented with robust communication strategies to deliver resilient deployments.
- We prove that inter-agent collision avoidance is guaranteed provided communication staleness remains bounded.
- We implement and simulate a variety of pursuit-evasion scenarios and show that preemptive communication reduces messages by 77.5% compared to periodic and event-triggered baselines with zero collisions.
Sources (1)
- [1]Robust Multi-Agent Pursuit with Preemptive Communication via Reachability-Based Control Barrier FunctionsarXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 15, 04:50 PM
In this work, we propose a unified control/communication strategy that provides safe control to guarantee inter-agent safety under intermittent communication and demonstrate its effectiveness in a pursuit-evasion scenario.
Safe multi-agent coordination typically assumes what real-world, deployed, resource-constrained robots cannot provide: continuous, perfect state sharing.
Extractive summary: sentences quoted from the sources.